holistic_fusion::RollFactor Class Reference

#include <unaryRollFactor.h>

Inheritance diagram for holistic_fusion::RollFactor:

Collaboration diagram for holistic_fusion::RollFactor:

Public Types
using	Base = gtsam::NoiseModelFactorN<gtsam::Pose3>

Public Member Functions
	RollFactor (gtsam::Key j, double roll, const gtsam::SharedNoiseModel &model)
	~RollFactor () override=default
gtsam::Vector	evaluateError (const gtsam::Pose3 &robotPose, gtsam::OptionalMatrixType H_Ptr=OptionalNone) const override
	vector of errors

Private Attributes
double	roll_

Detailed Description

Factor to estimate rotation given robot roll

Definition at line 27 of file unaryRollFactor.h.

Member Typedef Documentation

Base

using holistic_fusion::RollFactor::Base = gtsam::NoiseModelFactorN<gtsam::Pose3>

Definition at line 29 of file unaryRollFactor.h.

Constructor & Destructor Documentation

RollFactor()

holistic_fusion::RollFactor::RollFactor ( gtsam::Key j, double roll, const gtsam::SharedNoiseModel & model )

inline

Constructor of factor that constrains the roll angle of a Pose3 variable

Parameters

j	key of the unknown pose in the factor graph
roll	measured roll angle [rad]
model	of the additive Gaussian noise that is assumed

Definition at line 39 of file unaryRollFactor.h.

~RollFactor()

holistic_fusion::RollFactor::~RollFactor ( )

overridedefault

Member Function Documentation

evaluateError()

gtsam::Vector holistic_fusion::RollFactor::evaluateError ( const gtsam::Pose3 & robotPose, gtsam::OptionalMatrixType H_Ptr = OptionalNone ) const

inlineoverride

vector of errors

Evaluate error function

Definition at line 48 of file unaryRollFactor.h.

Member Data Documentation

roll_

double holistic_fusion::RollFactor::roll_

private

Definition at line 78 of file unaryRollFactor.h.

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The documentation for this class was generated from the following file:

• holistic_fusion/include/holistic_fusion/factors/non_expression/unaryRollFactor.h